A cable-driven parallel robot (CDPR) includes at least two sets of rotors each coupled to a respective one of at least two supports. The sets of the rotors are positioned above a surface, an effector is positioned at a horizontal planar location between the sets of the rotors and at a vertical location above the surface. At least two sets of cables each have cables coupled to a respective one of the sets of the rotors at first ends of the respective set of the cables and to an effector at second ends of the respective set of the cables. Each set of the sets of rotors is configured to control tension to the respective one set of the sets of cables for moving the horizontal planar location. Each set of the sets of rotors is vertically movable on the respective one of the supports for moving the vertical location when the sets of rotors are vertically moved, e.g., moved synchronously.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The CDPR of claim 1, wherein at least one cable of the first set of cables and the second set of cables is coupled to an upper portion of the effector and at least another one cable of each set of the first set of cables and the second set of cables is coupled to a lower portion of the effector.
3. The CDPR of claim 1, wherein at least one cable of the first set of cables and the second set of cables is coupled to an upper portion of the effector and at least another one cable of the first set of cables and the second set of cables is coupled to a lower portion of the effector, and wherein a first end of the at least one cable is coupled to an upper portion of one of the first rotor and the second rotor and a first end of the at least another one cable is coupled to a lower portion of one of the first rotor and the second rotor.
4. The CDPR of claim 1, wherein at least one cable of each set of the first set of cables and the second set of cables is coupled to an upper portion of the effector and at least another one cable of each set of the first set of cables and the second set of cables is coupled to a lower portion of the effector.
5. The CDPR of claim 1, wherein at least one cable of at least one set of the first set of cables and the second set of cables is coupled to an upper portion of the effector and at least another one cable of the at least one set of the first set of cables and the second set of cables is coupled to a lower portion of the effector, wherein a first end of the at least one cable of at least one set of the first set of cables and the second set of cables is coupled to a lower portion of one of the first rotor and the second rotor and a first end of the at least another one cable of at least one set of the first set of cables and the second set of cables is coupled to an upper portion of one of the first rotor and the second rotor, wherein at least one cable of at least another set of the first set of cables and the second set of cables is coupled to an upper portion of the effector and at least another one cable of the at least another set of the first set of cables and the second set of cables is coupled to a lower portion of the effector, and wherein a first end of the at least another cable of the at least another set of the first set of cables and the second set of cables is coupled to an upper portion of a rotor and a first end of the at least another one cable is coupled to a lower portion of one of the first rotor and the second rotor.
8. The CDPR of claim 1, further comprising at least one laser configured for measuring a distance of the effector.
9. The CDPR of claim 1, further comprising at least one laser configured for measuring a distance of the effector and at least one reflector coupled to the effector.
10. The CDPR of claim 1, wherein at least one of the first rotor and the second rotor comprises a winch drum.
11. The CDPR of claim 1, wherein at least one of the first rotor and the second rotor comprises a winch drum, wherein the winch drum is configured to coil at least one of cable of the first set of cables and the second set of cables for adjusting a length of the at least one cable.
12. The CDPR of claim 1, wherein at least one of the first rotor and the second rotor comprises a winch drum, and wherein the winch drum is configured to coil at least one cable of the first set of cables and the second set of cables.
13. The CDPR of claim 1, wherein one of the first rotor and the second rotor comprises a winch drum, wherein the winch drum comprises a set of grooves, and wherein each of the set of grooves is offset at an angle along the length of the winch drum.
14. The CDPR of claim 1, wherein at least one of the first rotor and second rotor comprises a winch drum, wherein the winch drum comprises a set of grooves, wherein each of the set of grooves is offset at an angle along the length of the winch drum, and wherein one of the first set of cables and the second set of cables are offset at the angle to a plane of the horizontal planar location.
15. The CDPR of claim 1, further comprising computational equipment configured for controlling at least one of the first rotor and the second rotor.
19. The method of claim 18, wherein the effector comprises a printhead.
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June 14, 2019
March 12, 2024
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